Parameter Optimization of MIMO Fuzzy Optimal Model Predictive Control By APSO

Table 5

Pi found by different methods.

Pi	Algorithms
	NMPC	FMPC-APSO	FOMPC-APSO
Tr	1.4965	4.4693	0.4135
Ts	6.8561	7.2779	3.5480
Ov%	5.0973	0.1215	0.00
Pic	1.0510	1.0012	1.0000
Es	0.00	0.00	0.00
W%	48.94	47.28	—